Method for detecting loading of car hopper, electronic equipment, program product and medium

Abstract

The invention provides a method for detecting loading of a car hopper, electronic equipment, a program product and a medium, and relates to the technical field of artificial intelligence. The invention aims to solve the problems of low efficiency and high time cost of charging detection. The method comprises the following steps: an acquisition step: acquiring data; an alignment step: aligning the center of the car hopper with the charging port along the transverse direction according to the collected data; a charging step: opening a charging port to charge a car hopper; a judgment step: detecting whether a detection area near the inner wall, far away from the loading opening, of the car hopper is filled with the material, if so, executing a material stopping step, and if not, continuing to execute the loading step; and a material stopping step: closing the charging port to stop charging the hopper, then driving the hopper away from the charging port, and executing the collection step on the next hopper. According to the method, the detection efficiency can be improved under the condition of automation, the loaded materials are accurately detected in real time, and uniform loading of the materials is ensured.

Description

Technical Field

[0001] The present invention relates to the field of artificial intelligence technology, and in particular to a method, electronic equipment, program product and medium for detecting loading of a truck bucket. Background Art

[0002] Minerals are mainly mined underground, which requires the excavation of a large number of tunnels. Underground mining is very dangerous. Once accidents such as water seepage, collapse and toxic gas leakage occur, the evacuation and rescue of underground workers are also extremely difficult. Therefore, the demand for unmanned and intelligent underground mining is more urgent.

[0003] An important part of unmanned underground mining is the loading of the loading port (also known as the "sluice port"). The current loading method is that a material discharging operator and the transport vehicle driver cooperate to control the opening and closing of the loading port by means of a pull rod or a remote control to promote and prevent the material from entering the truck bucket. The difficulty of this process lies in controlling the speed and total amount of material discharging. Too little material will reduce the loading efficiency, and too much material will cause the material to overflow and accumulate on the road, affecting the driving safety of the vehicle.

[0004] Although there are several methods for detecting automatic loading, these methods detect the loading of materials in the entire bucket, resulting in low detection efficiency and high time cost. In addition, these methods must be executed after stopping the discharge of materials or even after the bucket is driven out. It is impossible to judge the total amount of loading while discharging materials, and it is impossible to eliminate the interference of dust and flying stones generated during the discharge process on the sensor and the resulting inaccurate detection. It is also impossible to fine-tune the position of the bucket during the loading process to ensure that the materials are evenly loaded in the bucket, and thus it is impossible to eliminate the center of gravity offset caused by uneven loading of materials.

[0005] Therefore, there is an urgent need to provide a method for detecting loading of a truck bucket, which method can improve detection efficiency in an automated manner, accurately detect loading in real time, and ensure uniform loading of materials. Summary of the invention

[0006] In view of the above problems, the present invention provides a method for detecting the loading of a truck bucket, wherein the truck bucket includes an inner wall located inside the truck bucket, an outer wall located outside the truck bucket, a top wall connecting adjacent inner and outer walls, and a bottom wall located at the bottom of the truck bucket, the method comprising: a collection step: collecting data; an alignment step: aligning the center of the truck bucket with the loading port in the lateral direction according to the collected data; a loading step: opening the loading port to load the truck bucket; a judgment step: detecting whether the material fills a detection area located near the inner wall of the truck bucket away from the loading port, if so, executing a stopping step, if otherwise, continuing to execute the loading step; and a stopping step: closing the loading port to stop loading the truck bucket, then driving the truck bucket away from the loading port, and executing the collection step for the next truck bucket.

[0007] According to one aspect of the present invention, the data collection includes: collecting data points of the ground when there is no bucket below the loading port, identifying the data points of the ground as ground points and recording the height values ​​of the ground points; and collecting data points of the bucket moved below the loading port and recording the height values ​​of the bucket corresponding to the data points of the bucket, and then identifying the data points of the bucket according to the height values ​​of the ground points and the height values ​​of the bucket as: top wall points, distributed along the top wall, with a maximum and constant height value; bottom wall points, distributed along the bottom wall, with a constant height value larger than the height value of the ground points and smaller than the height value of the top wall points; and inner wall points, distributed along the inner wall, with height values ​​that vary within the range defined by the height values ​​of the bottom wall points and the height values ​​of the top wall points.

[0008] According to one aspect of the present invention, the alignment step includes: determining the coordinates of the center of the bucket based on the coordinates of the top wall point, the bottom wall point and the inner wall point in a plane perpendicular to the vertical direction and correcting the position of the bucket so that the center is aligned with the loading port.

[0009] According to one aspect of the present invention, the detection area is defined as a point at a distance d from the inner wall. a and the area consisting of the bottom wall points away from the center of the bucket, where 15 cm ≤ d a ≤50cm.

[0010] According to one aspect of the present invention, the truck bucket has four inner walls forming a rectangular shape, the four inner walls including an inner wall close to the loading port and three inner walls away from the loading port when the center of the truck bucket is aligned with the loading port in the lateral direction, and the detection area extends only along the three inner walls in a "[" shape.

[0011] According to one aspect of the present invention, the method for detecting whether the material is filled in the detection area located near the inner wall of the bucket away from the loading port includes: collecting data points of the material loaded into the bucket within the detection area and identifying the data points of the material as material points, wherein the material points have a height value with a greater variation than the height value of the bottom wall point, and detecting whether the difference between the height value of the top wall point and the height value of the material point is less than or equal to a threshold value as the material accumulates.

[0012] According to one aspect of the present invention, the collection step further includes setting a spatial rectangular coordinate system before collecting data, the spatial rectangular coordinate system including: a y-axis pointing to and aligned with the charging port in the transverse direction, an x-axis pointing to one end of the bucket in the longitudinal direction, a z-axis pointing to the ground in the vertical direction, and a coordinate origin fixed at a position higher than the charging port, when the center is aligned with the charging port in the transverse direction, the coordinate origin is aligned with the center in the vertical direction, wherein the detection area for detecting whether the material is full and located near the inner wall of the bucket away from the charging port is performed in the following manner: if each occurrence of a z-axis in the detection area satisfies m ≥z t -z diffth and x>0, then c p The value of is increased by 1; if in the detection area, each occurrence of m ≥z t -z diffth and x<0, then c n The value of c increases by 1; if p ≥c th And c n ≥c th , it means that the material is fully filled in the detection area near the inner wall of the truck bed away from the loading port; and if c p ≥c th And c n =0, or c n ≥c th And c p =0, it means that the material is unevenly distributed on the bottom wall; where z m is the height value of the material point, z t is the height value of the top wall point, z diffth is the threshold value of the difference between the height value of the top wall point and the height value of the material point, c p is a counter for material points with an x-coordinate greater than 0, c n is a counter for material points with an x-coordinate less than 0, c th c p and c n The threshold value, c p and c n The initial value of is 0.

[0013] According to one aspect of the present invention, the method further comprises an adjustment step: if c p ≥c th And c n =0, the bucket moves a distance d in the positive direction of the x-axis p , to continue the charging step; and if c n ≥c th And c p=0, the bucket moves a distance d in the negative direction of the x-axis n , to continue the loading step, where 40cm≤d p ≤80cm, 40cm≤d n ≤80cm.

[0014] According to an aspect of the present invention, a sensor is installed at the coordinate origin to collect data points to obtain reflectivity of the data points to electromagnetic waves emitted by the sensor and the coordinates of the data points.

[0015] According to one aspect of the present invention, the method further comprises a denoising step between the loading step and the judging step: if the material point satisfies r<r th , then remove the material point; and if the material point satisfies r≥r th , then the material point is retained; wherein r is the reflectivity of the material point, and r th is the reflectivity threshold of the reflectivity.

[0016] According to one aspect of the present invention, the denoising step further comprises: setting a circle with the material point as the center and R as the radius in the xy plane; if there are only n or less satisfying d z <d zth If the material points adjacent to the material point as the center of the circle are removed, the material point as the center of the circle is removed; and if there are n or more material points satisfying d z <d zth The material point adjacent to the material point as the center of the circle is retained as the material point as the center of the circle; wherein, d z is the distance of the adjacent material point from the circle along the z axis, and d zth is d z The threshold value is 5cm≤d zth ≤10cm, 5≤n≤20, 5cm≤R≤30cm.

[0017] According to one aspect of the present invention, , where z g is the height value of the ground point, is the average height of the ground points, z f is the noise fluctuation range, if z f ≥50cm, it is determined that there is an interfering target on the ground or the installation position is not level.

[0018] According to another aspect of the present invention, an electronic device is provided, comprising: at least one processor; a sensor for transmitting collected data to the at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor executes a method according to any one of the above aspects.

[0019] According to yet another aspect of the present invention, a computer program product is provided, the computer program product comprising: a computer program, wherein when the computer program is executed by a processor, the method according to any one of the above aspects is implemented.

[0020] According to yet another aspect of the present invention, a computer-readable medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the method according to any one of the above aspects is implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The above contents and other objects, features and advantages of the present invention will become more apparent through the following description of the embodiments of the present invention with reference to the accompanying drawings, in which:

[0022] Figure 1 is an exemplary arrangement of a method for detecting loading of a bucket according to an embodiment of the present invention, showing a bucket filled with material, a loading port for loading the bucket, and a sensor;

[0023] Figure 2 yes Figure 1 A top view of an exemplary arrangement in FIG. 1 , showing a detection area of ​​a truck bed and omitting sensors and actual material loaded into the truck bed;

[0024] Figure 3 is a schematic diagram showing the distribution of various data points collected on the truck bed and on the ground;

[0025] Figure 4 is a schematic diagram showing a circle and adjacent material points in a denoising step;

[0026] Figure 5 is a flow chart of a method for detecting loading of a truck body according to an embodiment of the present invention; and

[0027] Figure 6 The block diagram of an electronic device for implementing the method for detecting loading of a truck bed according to an embodiment of the present invention. DETAILED DESCRIPTION

[0028] The technical solution of the present invention is further specifically described below by examples and in conjunction with the accompanying drawings. In the specification, the same or similar reference numerals indicate the same or similar components. The following description of the embodiments of the present invention with reference to the accompanying drawings is intended to explain the overall concept of the present invention and should not be construed as a limitation of the present invention.

[0029] In addition, in the detailed description below, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of the disclosed embodiments. However, it is apparent that one or more embodiments may be implemented without these specific details. In other cases, known structures and devices are embodied in a schematic manner to simplify the accompanying drawings.

[0030] See also Figures 1 to 6 The present invention discloses a method 1000 for detecting the loading of material 400 into a bucket 100, wherein the bucket 100 includes an inner wall 110 located inside the bucket, an outer wall 120 located outside the bucket, a top wall 130 connecting adjacent inner walls 110 and outer walls 120, and a bottom wall 140 located at the bottom of the bucket. For the convenience of description, the material that leaves the loading port 200 but is not loaded into the bucket 100 is referred to as virtual material 600, and the material that leaves the loading port 200 and has been loaded into the bucket 100 is referred to as real material 400. Unless otherwise specified, the expression "material" hereinafter generally refers to the real material 400. Before loading, the bucket 100 is moved below the loading port 200, and a sensor 661 is installed above the bucket 100 and higher than the loading port 200 for collecting data, which can effectively avoid the interference of the virtual material 600 and the dust and flying stones during the loading process on the sensing accuracy of the sensor 661. A suitable device such as a laser radar can be used as the sensor 661. The data collected by the sensor 661 specifically refers to data points. As further described below, the information obtained from the data points includes the reflectivity r of the electromagnetic waves emitted by the sensor 661 and the coordinates x, y, z of the data points.

[0031] The method 1000 includes: a collection step S1100: collecting data; an alignment step S1200: aligning the center 150 of the bucket 100 with the loading port 200 along the lateral direction D1 according to the collected data; a loading step S1300: opening the loading port 200 to load the bucket 100; a judgment step S1500: detecting whether the material 400 fills a detection area 160 located near the inner wall 110 of the bucket 100 away from the loading port 200, if so, executing a stop step S1700, if not, continuing to execute the loading step S1300; and a stop step S1700: closing the loading port 200 to stop loading the bucket 100, then driving the bucket 100 away from the loading port, and executing the collection step S1100 for the next bucket.

[0032] The acquisition step S1100 also includes setting a spatial rectangular coordinate system before data acquisition, the spatial rectangular coordinate system includes: a y-axis pointing to and aligning with the charging port 200 along the transverse direction D1, an x-axis pointing to one end of the bucket 100 along the longitudinal direction D2, a z-axis pointing to the ground 500 along the vertical direction D3 (i.e., the height direction), and a coordinate origin O fixed at a position higher than the charging port 200. Before data acquisition, the bucket 100 is used to locate the coordinate origin O, so that when the center 150 of the bucket 100 is aligned with the charging port 200 along the transverse direction D1, the coordinate origin O is aligned with the center 150 along the vertical direction D3. See Figures 1 to 3 , sensor 661 is located at the coordinate origin O. For the sake of clarity, Figure 2 and 3 The sensor 661 is not shown. The center 150 is the geometric center of the bottom wall 140. Figure 3 The points located on the bottom wall 140 indicated by the indicator line 150 are schematically represented.

[0033] See also Figure 2 In one embodiment of the present invention, the bucket 100 has four inner walls 110 in a rectangular shape, the four inner walls 110 include an inner wall 110 close to the loading port 200 and three inner walls 110 away from the loading port 200 when the center 150 of the bucket 100 is aligned with the loading port 200 along the transverse direction D1, and the detection area 160 extends only along the three inner walls 110 in a "[" shape, such as Figure 2 As shown in the oblique line area in FIG. 1 , in order to clearly show the detection area 160, Figure 2Sensor 661 is omitted. However, those skilled in the art should understand that the present invention is not limited to this, and the bucket 100 may also have multiple inner walls formed in other shapes, and the detection area only extends along the inner wall away from the loading port 200. The detection area is set in this way because the present invention recognizes that: after leaving the loading port 200, the material 400 first fills the area near the inner wall 110 near the loading port 200, and then as the material 400 accumulates in the bucket 100, the limited area near the inner wall 110 near the loading port 200 cannot accommodate the increased material 400, so that the increased material 400 gradually accumulates from the area near the inner wall 110 near the loading port 200 through the area near the center 150 of the bucket 100 to the area near the inner wall 110 away from the loading port 200, until the area near the inner wall 110 away from the loading port 200 is filled. This shows that as long as the position Since the area near the inner wall 110 away from the loading port 200 is filled, other areas in the truck bed 100 should also be filled, so the detection area is set to extend only along the inner wall away from the loading port 200 instead of extending throughout the entire area in the truck bed 100. Compared with the case where the detection area is set to extend throughout the entire area in the truck bed 100, this greatly reduces the amount of data related to the detection area collected by the sensor 661, correspondingly reduces the time spent on processing the data, and avoids interference with the data measured by the sensor caused by dust and flying stones in other areas of the truck bed 100 except the area near the inner wall 110 away from the loading port 200.

[0034] That is, the method 1000 of the present invention proposes to detect whether the detection area 160 located near the inner wall 110 of the bucket 100 far away from the charging port 200 is filled with the material 400, rather than detecting whether the entire bucket 100 is filled with the material 400, which not only avoids the interference of virtual material 600 and most noise targets (such as dust and flying stones), realizes efficient real-time dynamic loading detection, but also significantly improves the practicality of the method 1000. Because the overflow and spillage of the material 400 in the mine is mainly caused by the local protrusion of the material 400 above the top wall 130 of the bucket 100, not directly caused by the total amount of the accumulated material 400, detecting whether the detection area 160 located near the inner wall 110 of the bucket 100 far away from the charging port 200 is filled with the material 400 not only greatly improves the detection accuracy and efficiency, but is also easy to implement in technology.

[0035] The data collection includes: collecting data points of the ground 500 when there is no bucket 100 below the loading port 200 (see Figure 3 , for ease of description and clarity, Figure 3 Sensor 661 is omitted), the data point of the ground 500 is identified as a ground point 510 and the height value z of the ground point 510 is recordedg ,in, , z g is the height value of the ground point 510, is the average height of ground point 510, z f is the noise fluctuation range, if z f ≥50cm, it is determined that there is an interfering target such as a large stone on the ground 500 or the installation position is not level, and manual intervention is required at this time; and collect the data points 111, 131, 141 of the bucket 100 moved below the loading port 200 and record the height value z of the bucket 100 corresponding to the data points 111, 131, 141 i 、z t 、z b , and then according to the height value z of the ground point 510 g and the height z of the bucket 100 i 、z t 、z b The data points 111, 131, 141 of the truck body 100 are identified as: the top wall point 131, distributed along the top wall 130, having the maximum and constant height value z t Bottom wall point 141, distributed along the bottom wall 140, has a height value z higher than the ground point 510 g Larger than the height z of the top wall point 131 t Small constant height z b and inner wall point 111, distributed along the inner wall 110, having a height value z at the bottom wall point 141 b and the height z of the top wall point 131 t The height value z varies within the limited range i For the sake of convenience of description, the height value z referred to in the present invention is g 、z i 、z t 、z b The measurement starts from the coordinate origin O of the spatial rectangular coordinate system, that is, the position where the sensor 661 is located. Figure 3 The z-axis is pointing in the negative direction, so that the height value z g 、z i 、z t 、z b are all negative numbers, Figure 3 The direction indicated by the x-axis is the positive direction, and the direction opposite to the direction indicated by the x-axis is the negative direction. The detection area 160 is defined as the distance d from the inner wall point 111. a (See Figure 2 ) and away from the bottom wall point 141 of the center 150 of the vehicle body 100 (for clarity, Figure 3Only the area consisting of some bottom wall points 141 distributed along the bottom wall 140 is shown, where 15 cm ≤ d a ≤50cm.

[0036] The alignment step S1200 includes: determining the coordinates of the center 150 of the bucket 100 according to the coordinates of the top wall point 131, the bottom wall point 141 and the inner wall point 111 in the plane xy perpendicular to the vertical direction D3 and correcting the position of the bucket 100 so that the center 150 is aligned with the loading port 200 along the transverse direction D1.

[0037] The method of detecting whether the material 400 is filled in the detection area 160 located near the inner wall 110 of the bucket 100 away from the loading port 200 includes: collecting data points of the material 400 loaded into the detection area 160 of the bucket 100 and identifying the data points of the material 400 as material points 410, such as Figure 3 As shown, the material points 410 are schematically shown to be arranged in two rows along the vertical direction D3, and the material points 410 have a height value z greater than the bottom wall point 141. b Large changes in height z m , detect the height value z of the top wall point 131 t and the height value z of the material point 410 m Whether the difference is less than or equal to the threshold value as the material 400 accumulates. In this way, the total amount of the loaded material 400 can be judged while the material 400 is discharged, which greatly improves the efficiency of the loading detection.

[0038] The detection of whether the material 400 is filled in the detection area 160 located near the inner wall 110 of the bucket 100 away from the loading port 200 is performed in the following manner: if there is a z m ≥z t -z diffth and x>0, a material point 410, then c p The value of increases by 1; if in the detection area 160, each occurrence of z m ≥z t -z diffth and x<0 at a material point 410, then c n The value of c increases by 1; if p ≥c th And c n ≥c th , it means that the material 400 fills the detection area 160 located near the inner wall 110 of the bucket 100 away from the charging port 200; and if c p ≥c th And c n =0, or c n ≥c th And cp =0, it means that the material 400 is unevenly distributed on the bottom wall 140; wherein, z m is the height value of the material point 410, z t is the height value of the top wall point 131, z diffth is the height value z of the top wall point 131 t and the height value z of the material point 410 m The difference threshold, c p is a counter for the material point 410 having an x ​​coordinate greater than 0, c n is a counter for the material point 410 having an x ​​coordinate less than 0, c th c p and c n The threshold value, c p and c n The initial value of is 0.

[0039] The method 1000 further comprises an adjustment step S1600: if c p ≥c th And c n =0, which means that the portion of the detection area 160 with an x ​​coordinate less than 0 is not full, then the bucket 100 moves a distance d in the positive direction of the x axis. p , so that the loading port 200 is filled with the unfilled part in a targeted manner to continue to perform the loading step S1300; and if c n ≥c th And c p =0, which means that the portion of the detection area 160 with an x ​​coordinate greater than 0 is not full, then the bucket 100 moves a distance d in the negative direction of the x axis. n , so that the loading port 200 is filled with the unfilled part in a targeted manner to continue to perform the loading step S1300, wherein 40cm≤d p ≤80cm, 40cm≤d n The adjustment step S1600 can fine-tune the position of the bucket 100 during the loading process to ensure that the material 400 is evenly loaded in the bucket 100 , thereby also eliminating the center of gravity deviation of the bucket 100 caused by uneven loading of the material 400 .

[0040] The method 1000 further includes a denoising step S1400 between the loading step S1300 and the judging step S1500: if the material point satisfies r<r th , which means that the material point represents dust composed of tiny particles with large gaps between each other. The dust causes only a small amount of electromagnetic waves to be reflected back by its tiny particles, so the reflectivity value is low, and the material point needs to be removed; if the material point satisfies r≥r th, which means that the material point 410 represents the material 400 loaded in the truck 100 with a small gap between each other, then the material point 410 is retained; wherein r is the reflectivity of the material point 410, and r th is the reflectivity threshold of the reflectivity.

[0041] The denoising step further includes: setting a circle with the material point 410 as the center and R as the radius in the xy plane (see Figure 4 ); if there are only n or more than n satisfying d z <d zth The material point 410 adjacent to the material point 410 as the center of the circle indicates that the material point 410 as the center of the circle has fewer adjacent material points, which are particles or flying stones suspended in the air, then the material point 410 as the center of the circle is removed; and if there are n or more material points that satisfy d z <d zth The material point 410 adjacent to the material point 410 as the center of the circle indicates that the material point 410 as the center of the circle has more adjacent points, which is the material 400 loaded in the truck 100, and the material point 410 as the center of the circle is retained; wherein, d z is the distance of the adjacent material point from the circle along the z-axis or vertical direction D3, and d zth is d z The threshold value is 5cm≤d zth ≤10cm, 5≤n≤20, 5cm≤R≤30cm.

[0042] The denoising step can effectively reduce noise interference and improve detection accuracy, making method 1000 suitable for harsh environments with a lot of dust in mine scenes and meeting actual application needs.

[0043] The method 1000 according to the present invention achieves the standards of unmanned, automated and intelligent, and also greatly eliminates the gap between unmanned mine operation and manual operation in terms of operation process and operation efficiency, ensuring that the efficiency of unmanned mine operation is not lower than that of manual operation, and also reducing the cost of modifying related hardware control equipment.

[0044] Figure 6 A schematic block diagram of an example electronic device 60 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0045] like Figure 6 As shown, the electronic device 60 includes a computing unit 61, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 62 or a computer program loaded from a storage unit 68 to a random access memory (RAM) 63. In the RAM 63, various programs and data required for the operation of the electronic device 60 can also be stored. The computing unit 61, the ROM 62, and the RAM 63 are connected to each other via a bus 64. An input / output (I / O) interface 65 is also connected to the bus 64.

[0046] Multiple components in the electronic device 60 are connected to the I / O interface 65, including: an input unit 66, which includes, for example, the sensor 661, a keyboard, a mouse, etc.; an output unit 67, such as various types of displays, speakers, etc.; a storage unit 68, such as a disk, an optical disk, etc.; and a communication unit 69, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 69 allows the electronic device 60 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0047] The computing unit 61 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 61 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The computing unit 61 performs the various methods and processes described above, such as performing the method 1000 of detecting the loading 400 of the bucket 100. For example, in some embodiments, the method 1000 of detecting the loading 400 of the bucket 100 may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 68. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 60 via the ROM 62 and / or the communication unit 69. When the computer program is loaded into the RAM 63 and executed by the computing unit 61, one or more steps of the method 1000 of detecting the loading 400 of the bucket 100 described above may be performed. Alternatively, in other embodiments, the computing unit 61 may be configured to perform the method 1000 of detecting the loading 400 of the vehicle body 100 in any other suitable manner (eg, by means of firmware).

[0048] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution disclosed in the present invention can be achieved, and this document does not limit this.

[0049] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations may include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0050] The program code for implementing the method of the present invention can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code can be executed entirely on the machine, partially on the machine, partially on the machine as a stand-alone software package and partially on a remote machine, or entirely on a remote machine or server.

[0051] In the context of the present invention, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0052] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0053] The systems and techniques described herein may be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0054] A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship of client and server is generated by computer programs running on respective computers and having a client-server relationship with each other. The server may be a cloud server, a server of a distributed system, or a server combined with a blockchain.

[0055] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

[0056] Those skilled in the art can understand that the embodiments described above are exemplary and can be improved by those skilled in the art. The structures described in various embodiments can be freely combined without causing conflicts in structure or principle.

[0057] After describing the preferred embodiments of the present invention in detail, those skilled in the art can clearly understand that various changes and modifications can be made without departing from the scope and spirit of the present invention, and the present invention is not limited to the implementation methods of the exemplary embodiments given in the specification.

Claims

1. A method for detecting loading of a truck bucket, wherein the truck bucket comprises an inner wall located inside the truck bucket, an outer wall located outside the truck bucket, a top wall connecting adjacent inner walls and outer walls, and a bottom wall located at the bottom of the truck bucket, characterized in that: The method comprises: Collection steps: Collect data; Alignment step: aligning the center of the bucket with the loading port in the lateral direction according to the collected data; Loading steps: open the loading port to load the truck bed; Determining step: detecting whether the material is fully filled in a detection area located near the inner wall of the bucket away from the loading port, if yes, executing the material stopping step, if not, continuing to execute the material loading step; and Stopping step: closing the loading port to stop loading the bucket, then driving the bucket away from the loading port, and performing the collection step for the next bucket.

2. The method according to claim 1, characterized in that The collected data includes: Collecting data points of the ground below the loading port when there is no bucket, identifying the data points of the ground as ground points and recording height values ​​of the ground points; and The data points of the bucket moved below the loading port are collected and the height values ​​of the bucket corresponding to the data points of the bucket are recorded, and then the data points of the bucket are identified according to the height values ​​of the ground points and the height values ​​of the bucket as: top wall points, distributed along the top wall, with a maximum and constant height value; bottom wall points, distributed along the bottom wall, with a constant height value larger than the height value of the ground points and smaller than the height value of the top wall points; and inner wall points, distributed along the inner wall, with height values ​​varying within the range defined by the height values ​​of the bottom wall points and the top wall points.

3. The method according to claim 2, characterized in that The aligning step includes determining the coordinates of the center of the bucket based on the coordinates of the top wall point, the bottom wall point and the inner wall point in a plane perpendicular to the vertical direction and correcting the position of the bucket so that the center is aligned with the loading port.

4. The method according to claim 3, characterized in that The detection area is defined by the distance d from the inner wall point a and the area consisting of the bottom wall points away from the center of the bucket, where 15 cm ≤ d a ≤50cm.

5. The method according to claim 4, characterized in that The truck bucket has four inner walls forming a rectangular shape, the four inner walls including an inner wall close to the loading port and three inner walls away from the loading port when the center of the truck bucket is aligned with the loading port in the transverse direction, and the detection area extends only along the three inner walls in a "[" shape.

6. The method according to claim 4 or 5, characterized in that: The method for detecting whether the material is filled in a detection area located near the inner wall of the bucket away from the loading port includes: collecting data points of the material loaded into the bucket within the detection area and identifying the data points of the material as material points, wherein the material points have a height value with a greater change than the height value of the bottom wall point, and detecting whether the difference between the height value of the top wall point and the height value of the material point is less than or equal to a threshold value as the material accumulates.

7. The method according to claim 6, characterized in that The collecting step also includes setting a spatial rectangular coordinate system before collecting data, the spatial rectangular coordinate system including: a y-axis pointing to and aligning with the charging port in the transverse direction, an x-axis pointing to one end of the bucket in the longitudinal direction, a z-axis pointing to the ground in the vertical direction, and a coordinate origin fixed at a position higher than the charging port, when the center is aligned with the charging port in the transverse direction, the coordinate origin is aligned with the center in the vertical direction, The detection area near the inner wall of the bucket away from the loading port for detecting whether the material is full is performed in the following manner: If there is a z m ≥z t -z diffth and x>0, then c p The value of is increased by 1; If there is a z m ≥z t -z diffth and x<0, then c n The value of is increased by 1; If c p ≥c th And c n ≥c th , it means that the material is fully loaded in the detection area located near the inner wall of the truck bed away from the loading port; and If c p ≥c th And c n =0, or c n ≥c th And c p =0, it means that the material is unevenly distributed on the bottom wall; Among them, z m is the height value of the material point, z t is the height value of the top wall point, z diffth is the threshold value of the difference between the height value of the top wall point and the height value of the material point, c p is a counter for material points with an x-coordinate greater than 0, c n is a counter for material points with an x-coordinate less than 0, c th c p and c n The threshold value, c p and c n The initial value of is 0.

8. The method according to claim 7, characterized in that Also includes adjustment steps: If c p ≥c th And c n =0, the bucket moves a distance d in the positive direction of the x-axis p , to continue with the loading step; as well as If c n ≥c th And c p =0, the bucket moves a distance d in the negative direction of the x-axis n , to continue with the loading step, Among them, 40cm≤d p ≤80cm, 40cm≤d n ≤80cm.

9. The method according to claim 7 or 8, characterized in that: The sensor is installed at the coordinate origin to collect data points to obtain the reflectivity of the data points to the electromagnetic waves emitted by the sensor and the coordinates of the data points.

10. The method according to claim 9, characterized in that It also includes a denoising step between the loading step and the judgment step: If the material point satisfies r<r th , then remove the material point; as well as If the material point satisfies r ≥ r th , then retain the material point; Among them, r is the reflectivity of the material point, and r th is the reflectivity threshold of the reflectivity.

11. The method according to claim 10, characterized in that The denoising step further comprises: Set a circle with the material point as the center and R as the radius in the xy plane; If there are only n or more than n satisfying d z <d zth The material points adjacent to the material point as the center of the circle are removed; and If there are n or more satisfying d z <d zth If the material point adjacent to the material point as the center of the circle is selected, the material point as the center of the circle is retained; Among them, d z is the distance of the adjacent material point from the circle along the z axis, and d zth is d z The threshold value is 5cm≤d zth ≤10cm, 5≤n≤20, 5cm≤R≤30cm.

12. The method according to any one of claims 2 to 5, 7, 8, 10 and 11, characterized in that ， Among them, z g is the height value of the ground point, is the average height of the ground points, z f is the noise fluctuation range, if z f ≥50cm, it is determined that there is an interfering target on the ground or the installation position is not level.

13. An electronic device, characterized in that: The electronic device comprises: at least one processor; a sensor for transmitting collected data to the at least one processor; and a memory, communicatively connected to the at least one processor; The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 12.

14. A computer program product, characterized in that The computer program product comprises: A computer program which, when executed by a processor, implements the method according to any one of claims 1 to 12.

15. A computer readable medium, characterized in that The computer readable medium stores a computer program, which implements the method according to any one of claims 1 to 12 when executed by a processor.

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